Kinematic Dexterity of Robotic Mechanisms

  title={Kinematic Dexterity of Robotic Mechanisms},
  author={Frank Chongwoo Park and Roger W. Brockett},
  journal={I. J. Robotics Res.},
In this article we develop a mathematical theory for optimizing the kinematic dexterity of robotic mechanisms and obtain a collection of analytical tools for robot design. The performance criteria we consider are workspace volume and dexterity; by the latter we mean the ability to move and apply forces in arbitrary directions as easily as possible. Clearly, dexterity and workspace volume are intrinsic to a mechanism, so that any mathematical formulation of these properties must necessarily be… CONTINUE READING
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